早熟葡萄胚抢救技术研究

针对早熟葡萄育种中胚发育不全的问题,以京秀×87-1等5个杂交组合的杂交胚为材料,采用L25 (55)的正交试验设计,进行了早熟葡萄胚抢救技术研究。结果表明,影响各个组合早熟葡萄杂交后代成苗率最重要的因素是取胚时期,其他的因素对成苗率的影响大小因基因型而异。筛选出了早熟葡萄胚挽救的最优培养时期、相对较优的基本培养基成分及几种激素浓度,积累了一批胚抢救杂交试材。     

工业机器人喷涂运动学仿真研究

为了提高工业机器人设计分析效率,降低昂贵的机器人开发成本,利用虚拟样机技术对机器人进行了运动学仿真,提出了机器人的轨迹规划。根据HA006型工业机器人的结构特点,建立了基于D—H连杆坐标系的机器人运动学模型,利用MATLAB软件的机器人工具箱构建机器人对象,求解机器人基于关节坐标和直角坐标的轨迹规划,并通过SolidWorks软件进行连续路径喷涂轨迹规划的运动学仿真与分析,较为直观地观察机器人工作姿态和运动轨迹,得到机器人运动性能的实时状况。试验结果表明,该方法可以清楚地判定机器人运动方案的合理性及轨迹规划及控制算法的可行性,有效地提高了工业机器人的设计效率。     

基于模糊PID算法的轮式机器人驱动轮控制器设计

针对无刷直流电动机驱动轮式移动机器人的调速控制问题提出了一种解决方法。简单介绍了轮式机器人的机械结构以及模糊控制理论,然后对轮式机器人控制系统进行了硬件设计,并对轮式移动机器人各驱动轮的转速闭环控制设计了模糊PID控制器。实验表明:与传统的PID控制效果比较,该模糊PID控制器能够有效提高系统的控制精度和伺服性能。     

招银高速公路伍凤山隧道运营通风及防灾救援方案设计研究

本文对漳州招银高速公路伍凤山隧道的运营通风设计原则、通风方式和风机布置进行计算和研究。同时结合隧道的实际情况,分析了隧道的防灾救援设计各系统的作用,并对火灾发生时如何综合应用利用系统就行火灾救援进行了说明。对我国隧道防火设计和防灾救援有一定的指导意义。     

浅析某大型基坑围护设计概况及基坑抢险堵漏施工技术的应用

本文以上海市浦东区某高层建筑工程大型深基坑为例,阐述了该深基坑支护设计采用的支护形式、止水方式、深基坑支护渗漏的情况及相对应的堵漏施工方法,为高层建筑深基坑支护设计及渗漏处理方案的选择提供了参考依据。     

浅谈建筑物火灾坍塌事故中的救援措施

坍塌是建筑物发生火灾事故的次生灾害之一,给人们的生命和财产安全带来了极大地威胁。因此,及时、有效地救援是降低火灾危害、抢救人员生命的关键举措。本文对此进行了探讨。     

Global behavior via cooperative local control

The purpose of this paper is twofold. First, we outline important issues in designing real-time controllers for robots with numerous sensors, actuators, and behaviors. We address these issues by implementing a behavior based controller on a sophisticated autonomous robot. Hence, this work provides a point of reference for the scalability, ease of design, and effectiveness of the behavior based control for complex robots. Second, we explore the viability of using cooperation among local controllers to achieve coherent global behavior. Our approach is to decompose a difficult control task for a complex robot into a multitude of simpler control tasks for robotic subsystems. We illustrate and examine the effectiveness of this approach via rough terrain locomotion using an autonomous hexapod robot. Traversing rough terrain is a good task to test the viability of this approach because it requires a considerable amount of leg coordination. We found that implementing a complicated global control task with cooperating local controllers can effectively control complex robots.Support for this research was provided in part by a NASA Graduate Student Researcher Program Fellowship administered through the Jet Propulsion Laboratory, by Jet Propulsion Laboratory grant 959333, and by the Advanced Research Projects Agency under Office of Naval Research contract N00014-91-J-4038.     

Leader–follower formation control of nonholonomic mobile robots with input constraints

The paper deals with leader–follower formations of nonholonomic mobile robots, introducing a formation control strategy alternative to those existing in the literature. Robots’ control inputs are forced to satisfy suitable constraints that restrict the set of leader possible paths and admissible positions of the follower with respect to the leader. A peculiar characteristic of the proposed strategy is that the follower position is not rigidly fixed with respect to the leader but varies in proper circle arcs centered in the leader reference frame.     

Time Needed to Improve Clinical Parameters By Daily Hemodialysis

Daily hemodialysis therapy (DHD), 2 hours, 6 times per week, is able to cure complications that persist on standard hemodialysis (SHD), 4 hours, 3 times per week. Cardiovascular manifestations (high blood pressure, left ventricular hypertrophy), nutritional deficient states, and postdialysis asthenia are improved during the first month of DHD therapy and are usually cured at 3 months. Daily hemodialysis may be considered as a rescue therapy. The next step will be to select which patients can return to the classical SHD therapy without recurrence of their complications.     

机器人多指手抓取的布局规划及其性能指标

当用机器人多指手抓了以任意形状的笺体对，为了保证抓取的稳定性，合理地规划抓取接触点的布局是必要的。该指标与力椭球的体积成正比，可定量地描述抓取的稳定性程度，也适应于自适应夹具规划。给出实例表明，提出的性能正可行。